//------------------------------------------------------------------------- /** * Sends a 11 bit CAN data frame. * * @param msg CAN message * * @return success (true/false) */ public override bool sendMessage(CANMessage msg) { this.AddToCanTrace("Sending message: " + msg.getID().ToString("X4") + " " + msg.getData().ToString("X16")); try { caCombiAdapter.caCANFrame frame = new caCombiAdapter.caCANFrame(); frame.id = msg.getID(); frame.length = msg.getLength(); frame.data = msg.getData(); frame.is_extended = 0; frame.is_remote = 0; this.combi.CAN_SendMessage(ref frame); this.AddToCanTrace("Message sent successfully"); return(true); } catch (Exception e) { this.AddToCanTrace("Message failed to send: " + e.Message); return(false); } }
/*private void AddToCanTrace(string line) * { * if (m_EnableCanLog) * { * DateTime dtnow = DateTime.Now; * using (StreamWriter sw = new StreamWriter(System.Windows.Forms.Application.StartupPath + "\\CanTraceCANUSBDevice.txt", true)) * { * sw.WriteLine(dtnow.ToString("dd/MM/yyyy HH:mm:ss") + " - " + line); * } * } * }*/ /// <summary> /// sendMessage send a CANMessage. /// </summary> /// <param name="a_message">A CANMessage.</param> /// <returns>true on success, othewise false.</returns> override public bool sendMessage(CANMessage a_message) { LAWICEL.CANMsg msg = new LAWICEL.CANMsg(); msg.id = a_message.getID(); msg.len = a_message.getLength(); msg.flags = a_message.getFlags(); msg.flags = LAWICEL.CANMSG_EXTENDED; // Test for now msg.data = a_message.getData(); int writeResult; //AddToCanTrace("Sending message"); AddToCanTrace("TX: " + msg.id.ToString("X6") + " " + msg.data.ToString("X16")); writeResult = LAWICEL.canusb_Write(m_deviceHandle, ref msg); if (writeResult == LAWICEL.ERROR_CANUSB_OK) { //AddToCanTrace("Message sent successfully"); txCount++; bitsPerSecond += 109; return(true); } else { errCount++; switch (writeResult) { case LAWICEL.ERROR_CANUSB_COMMAND_SUBSYSTEM: AddToCanTrace("Message failed to send: ERROR_CANUSB_COMMAND_SUBSYSTEM"); break; case LAWICEL.ERROR_CANUSB_INVALID_PARAM: AddToCanTrace("Message failed to send: ERROR_CANUSB_INVALID_PARAM"); break; case LAWICEL.ERROR_CANUSB_NO_MESSAGE: AddToCanTrace("Message failed to send: ERROR_CANUSB_NO_MESSAGE"); break; case LAWICEL.ERROR_CANUSB_NOT_OPEN: AddToCanTrace("Message failed to send: ERROR_CANUSB_NOT_OPEN"); break; case LAWICEL.ERROR_CANUSB_OPEN_SUBSYSTEM: AddToCanTrace("Message failed to send: ERROR_CANUSB_OPEN_SUBSYSTEM"); break; case LAWICEL.ERROR_CANUSB_TX_FIFO_FULL: AddToCanTrace("Message failed to send: ERROR_CANUSB_TX_FIFO_FULL"); break; default: AddToCanTrace("Message failed to send: " + writeResult.ToString()); break; } return(false); } }
/// <summary> /// sendMessage send a CANMessage. /// </summary> /// <param name="a_message">A CANMessage.</param> /// <returns>true on success, othewise false.</returns> override public bool sendMessage(CANMessage a_message) { EASYSYNC.CANMsg msg = new EASYSYNC.CANMsg(); msg.id = a_message.getID(); msg.len = a_message.getLength(); msg.flags = a_message.getFlags(); msg.data = a_message.getData(); //Console.WriteLine("Data to send: " + msg.data.ToString("X16")); //Console.WriteLine("Data (original) to send: " + a_message.getData().ToString("X16")); int writeResult; AddToCanTrace("Sending message"); writeResult = EASYSYNC.canusb_Write(m_deviceHandle, ref msg); if (writeResult == EASYSYNC.ERROR_CANUSB_OK) { AddToCanTrace("Message sent successfully"); return(true); } else { switch (writeResult) { case EASYSYNC.ERROR_CANUSB_COMMAND_SUBSYSTEM: AddToCanTrace("Message failed to send: ERROR_CANUSB_COMMAND_SUBSYSTEM"); break; case EASYSYNC.ERROR_CANUSB_INVALID_PARAM: AddToCanTrace("Message failed to send: ERROR_CANUSB_INVALID_PARAM"); break; case EASYSYNC.ERROR_CANUSB_NO_MESSAGE: AddToCanTrace("Message failed to send: ERROR_CANUSB_NO_MESSAGE"); break; case EASYSYNC.ERROR_CANUSB_NOT_OPEN: AddToCanTrace("Message failed to send: ERROR_CANUSB_NOT_OPEN"); break; case EASYSYNC.ERROR_CANUSB_OPEN_SUBSYSTEM: AddToCanTrace("Message failed to send: ERROR_CANUSB_OPEN_SUBSYSTEM"); break; case EASYSYNC.ERROR_CANUSB_TX_FIFO_FULL: AddToCanTrace("Message failed to send: ERROR_CANUSB_TX_FIFO_FULL"); break; default: AddToCanTrace("Message failed to send: " + writeResult.ToString()); break; } return(false); } }
/* public CANMessage waitForMessage(uint a_canID, int a_timeout) * { * CANMessage retMsg; * m_canMessage.setID(0); // init so we cannot receive the same frame twice <GS-10022010> * lock (m_canMessage) * { * m_waitMsgID = a_canID; * } * m_resetEvent.WaitOne(a_timeout, true); * lock (m_canMessage) * { * retMsg = m_canMessage; * } * * return retMsg; * } */ override public void handleMessage(CANMessage a_message) { lock (m_canMessage) { if (a_message.getID() == m_waitMsgID) { m_canMessage.setData(a_message.getData()); m_canMessage.setFlags(a_message.getFlags()); m_canMessage.setID(a_message.getID()); m_canMessage.setLength(a_message.getLength()); m_canMessage.setTimeStamp(a_message.getTimeStamp()); m_resetEvent.Set(); } } }
/// <summary> /// Send a KWP request. /// </summary> /// <param name="a_request">A KWP request.</param> /// <param name="r_reply">A KWP reply.</param> /// <returns>The status of the request.</returns> public RequestResult sendRequest(KWPRequest a_request, out KWPReply r_reply) { CANMessage msg = new CANMessage(0x240, 0, 8); uint row = nrOfRowsToSend(a_request.getData()); m_kwpCanListener.setupWaitMessage(0x258); // Send one or several request messages. for (; row > 0; row--) { msg.setData(createCanMessage(a_request.getData(), row - 1)); if (!m_canDevice.sendMessage(msg)) { r_reply = new KWPReply(); return(RequestResult.ErrorSending); } } msg = m_kwpCanListener.waitMessage(timeoutPeriod); // msg = m_kwpCanListener.waitForMessage(0x258, timeoutPeriod); // Receive one or several replys and send an ack for each reply. if (msg.getID() == 0x258) { uint nrOfRows = (uint)(msg.getCanData(0) & 0x3F) + 1; row = 0; if (nrOfRows == 0) { throw new Exception("Wrong nr of rows"); } //Assume that no KWP reply contains more than 0x200 bytes byte[] reply = new byte[0x200]; reply = collectReply(reply, msg.getData(), row); sendAck(nrOfRows - 1); nrOfRows--; m_kwpCanListener.setupWaitMessage(0x258); while (nrOfRows > 0) { // msg = m_kwpCanListener.waitForMessage(0x258, timeoutPeriod); msg = m_kwpCanListener.waitMessage(timeoutPeriod); if (msg.getID() == 0x258) { row++; reply = collectReply(reply, msg.getData(), row); sendAck(nrOfRows - 1); nrOfRows--; } else { r_reply = new KWPReply(); return(RequestResult.Timeout); } } r_reply = new KWPReply(reply, a_request.getNrOfPID()); return(RequestResult.NoError); } else { r_reply = new KWPReply(); return(RequestResult.Timeout); } }
/// <summary> /// Send a KWP request. /// </summary> /// <param name="a_request">A KWP request.</param> /// <param name="r_reply">A KWP reply.</param> /// <returns>The status of the request.</returns> public override RequestResult sendRequest(KWPRequest a_request, out KWPReply r_reply) { uint row; uint all_rows = row = nrOfRowsToSend(a_request.getData()); m_kwpCanListener.setupWaitMessage(0x258); // Send one or several request messages. for (; row > 0; row--) { CANMessage msg = new CANMessage(0x240, 0, 8); msg.elmExpectedResponses = a_request.ElmExpectedResponses; msg.setData(createCanMessage(a_request.getData(), row - 1)); if ((msg.getData() & 0xFFFFUL) == 0xA141UL) { msg.elmExpectedResponses = 0; } if (all_rows == 22) { msg.elmExpectedResponses = row == 1 ? 1 : 0; // on last message (expect 1 reply) } if (!m_canDevice.sendMessage(msg)) { r_reply = new KWPReply(); return(RequestResult.ErrorSending); } } var response = m_kwpCanListener.waitMessage(getTimeout()); // Receive one or several replys and send an ack for each reply. if (response.getID() == 0x258) { uint nrOfRows = (uint)(response.getCanData(0) & 0x3F) + 1; row = 0; if (nrOfRows == 0) { throw new Exception("Wrong nr of rows"); } //Assume that no KWP reply contains more than 0x200 bytes byte[] reply = new byte[0x200]; reply = collectReply(reply, response.getData(), row); sendAck(nrOfRows - 1); nrOfRows--; m_kwpCanListener.setupWaitMessage(0x258); while (nrOfRows > 0) { response = m_kwpCanListener.waitMessage(getTimeout()); if (response.getID() == 0x258) { row++; reply = collectReply(reply, response.getData(), row); sendAck(nrOfRows - 1); nrOfRows--; } else { logger.Debug("1response.getID == " + response.getID()); r_reply = new KWPReply(); return(RequestResult.Timeout); } } r_reply = new KWPReply(reply, a_request.getNrOfPID()); return(RequestResult.NoError); } else { logger.Debug("2response.getID == " + response.getID()); r_reply = new KWPReply(); return(RequestResult.Timeout); } }